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Lane line detection method and system

A lane line detection and lane line technology, which is applied in image data processing, instrument, character and pattern recognition, etc. Effect

Active Publication Date: 2018-07-06
BEIJING HUAHANG RADIO MEASUREMENT & RES INST
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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a lane line detection method and system to solve the problem of high computational complexity of existing algorithms

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  • Lane line detection method and system
  • Lane line detection method and system

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Embodiment Construction

[0029] Preferred embodiments of the present invention are specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention, and are not intended to limit the scope of the present invention.

[0030] A specific embodiment of the present invention discloses a lane line detection method. see figure 1 , the method includes the following steps:

[0031] Step S101, acquire the original image in front of the vehicle and determine the area to be detected from the original image.

[0032] Let the acquired original image be M(u, v), where u and v are the coordinates of pixels in the image in the original image space, see figure 2 , the determined region to be detected (u,v)∈D 0 , that is, the area within the black square frame in the figure, and the area to be detected includes lane lin...

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Abstract

The invention relates to a lane line detection method and system. The method comprises: acquiring an original image in front of a driving vehicle and determining a to-be-detected area from the original image; carrying out inverse perspective transformation on the image of the to-be-detected area; carrying out lane line enhancement processing on the image after the inverse perspective transformation; screening out candidate points from the image after enhancement; the screened candidate points are grouped; fitting is carried out on all candidate point groups to obtain fitting results being allto-be-detected lane lines; and carrying out inverse transformation on all to-be-detected lane lines obtained by fitting to original image space. According to the invention, after inverse transformation on the a to-be-detected area, lane line enhancement processing is carried out by using an image filter and rotary transformation is carried out on the image by combining principal direction estimation, so that the fluencies caused by lane changing and the like are eliminated and the robustness of the subsequent lane detection is improved. The image after enhancement processing is divided into aplurality of histograms, so that the computing load is reduced substantially by block division processing and the real-time performance of the system detection is enhanced.

Description

technical field [0001] The present invention relates to the technical field of automobile safety assisted driving, in particular to a lane line detection method and system. Background technique [0002] Lane departure warning system is an important part of the research on vehicle safety assisted driving technology. By warning the driver who is tired or inattentive, he corrects the unconscious lane departure, so as to reduce the occurrence of accidents when the vehicle departs from the driving lane. Among them, how to quickly and accurately extract the lane markings or road boundaries in the road is the key to the application of the system. [0003] At present, lane detection generally adopts methods based on space transformation, such as Hough method, etc., but the existing methods based on space transformation have high computational complexity and cannot meet the real-time requirements. In addition, the existing lane line detection method, when the angle between the lane ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06T7/13G06T7/181
CPCG06T7/13G06T7/181G06T2207/30256G06V20/588
Inventor 魏宁张立平张品张令川苏帅李寒松
Owner BEIJING HUAHANG RADIO MEASUREMENT & RES INST
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